Add flex elasticity stiffness matrix to mjModel.

PiperOrigin-RevId: 675101645 Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 04:59:55 -07:00
parent c77babe046
commit 2da15cf137
12 changed files with 71 additions and 29 deletions
@@ -1168,6 +1168,7 @@ struct mjModel_ {
  mjtNum*   flexedge_length0;     // edge lengths in qpos0                    (nflexedge x 1)
  mjtNum*   flexedge_invweight0;  // edge inv. weight in qpos0                (nflexedge x 1)
  mjtNum*   flex_radius;          // radius around primitive element          (nflex x 1)
+  mjtNum*   flex_stiffness;       // finite element stiffness matrix          (nflexelem x 21)
  mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
  mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
  mjtByte*  flex_edgeequality;    // is edge equality constraint defined      (nflex x 1)